CN103809155A - ZigBee-based quadrocopter farmland positioning system - Google Patents

ZigBee-based quadrocopter farmland positioning system Download PDF

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CN103809155A
CN103809155A CN201410022399.3A CN201410022399A CN103809155A CN 103809155 A CN103809155 A CN 103809155A CN 201410022399 A CN201410022399 A CN 201410022399A CN 103809155 A CN103809155 A CN 103809155A
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zigbee
aircraft
beaconing nodes
node
farmland
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CN103809155B (en
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张海辉
崔选科
王东
张家明
杨小虎
范叶满
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Northwest A&F University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

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Abstract

The invention provides a ZigBee-based quadrocopter farmland positioning system which comprises a plurality of known positions, ZigBee beacon nodes at the same height, and to-be-positioned quadrocopter nodes composed of the quadrocopter and ZigBee nodes, and also a positioning method which comprises the steps of selecting four beacon nodes strongest in wireless signal intensity when the quadrocopter flies over the farmland, calculating the spatial distance between the node of the quadrocopter and each beacon node through the intensity of a received wireless signal, mapping the spatial distances into horizontal distances between the node of the quadrocopter and the beacon nodes within the horizontal plane, combining every three beacon nodes to form a triangular positioning subregion and forming 4 subregions in total, for each subregion, calculating the relative coordinates of the quadrocopter by a trilateral positioning method, next, calculating the center of mass of a quadrangle formed by the four pairs of relative coordinates by a center-of-mass method, and then taking the coordinates of the center of mass as the final position coordinates of the node of the quadrocopter. The ZigBee-based quadrocopter farmland positioning system is capable of realizing low-cost, high-precision and fast-positioned regional operation in the farmland.

Description

A kind of four-axle aircraft farmland positioning system based on ZigBee
Technical field
The present invention relates to the fast technology application of location of zonule, farmland, particularly a kind of farmland positioning system and method combining based on wireless sensor network and four-axle aircraft.
Background technology
Along with the development of modern agriculture, adopt in the recent period small aircraft monitoring agricultural land, crop growth situation and the irrigation and water conservancy situations such as unmanned plane, on the basis of its perception agricultural land information, accomplish the rational application of fertilizer, sowing, irrigate and spray insecticide, reduce expenses, reduce costs.But, realize these targets, must depend on the accurate location of unmanned plane in farmland.
At present, the main GPS (Global Positioning System, GPS) that adopts in unmanned plane location.This system is made up of 24 satellites covering the whole world, can guarantee at any time, on the earth, any point can observe 4 satellites simultaneously, to guarantee to collect longitude and latitude and the height of this observation station, to realize the functions such as navigation, location, time service.This technology can be used for vector aircraft, boats and ships, vehicle and individual, and safety, exactly along selected route arrives punctually at the destination.GPS Global Positioning System (GPS) is made up of three parts: space segment-GPS constellation, ground control section-ground monitoring system, customer equipment part-gps signal receiver.By locator meams, GPS location is divided into single-point location and relative positioning (difference location).The mode of receiver location is determined in single-point location according to the observation data of a receiver, it can only adopt pseudo range observed quantity, for summary navigator fix, is subject to the impact of Systematic error sources, can not adapt to farmland line by line, by the accuracy requirement of strain operation.Relative positioning is the method for determining the relative position between observation station according to the observation data of more than two receiver; it both can adopt pseudo range observed quantity also can adopt phase observations amount; in the time carrying out relative positioning, most of common error is cancelled or weakens; therefore positioning precision will improve greatly; but due to expensive, be difficult to meet the lower devices with low cost requirement bringing of China's present stage agricultural large-scale degree.
Mechanical work under farm environment, the effect of location is the self-navigation for unmanned plane or agricultural machinery, specify the compartmentalization in farmland to spray the farming operations such as medicine, fertilising, sowing or results to realize, be characterized in accurate location in small area and zonule operation all standing based on this, can accurately obtain machinery and be positioned at the relative position in farmland, can avoid adopting the demand of GPS technology Dynamic Acquisition absolute position.At present typical zonule location technology can be divided into two kinds of directed and non-directionals, directional technology is as laser ranging, radar range finding etc., need to solve in application scenarios such as the unmanned planes of position dynamic change that measured object is dynamically followed the tracks of, the dynamically technical matters such as adjustment of direction, cost is higher; Non-directional technology comprises technology such as adopting sound wave, omnidirectional's radio, and the distance between measured point and beaconing nodes and signal attenuation degree or signal propagation time are relevant, can accurate Calculation relative position by measuring-signal pad value or signal propagation time.
Non-directional ranging technology is applied to location, zonule, farmland by the present invention, proposes a kind of four-axle aircraft farmland positioning system and method based on ZigBee.
Summary of the invention
It is beaconing nodes that the present invention adopts the peripheral some points in zonule, cover by low cost, high-precision 2.4G wireless signal in small area, unmanned plane carries signal receiving device as node to be positioned, calculate and the relative position of each beaconing nodes by signal attenuation, with this realize unmanned plane fast, hi-Fix.
To achieve these goals, the technical solution used in the present invention is:
A four-axle aircraft farmland positioning system based on ZigBee, comprising:
The ZigBee beaconing nodes of some known location, equal height, each ZigBee beaconing nodes comprises radiofrequency launcher and radio frequency receiver, and each ZigBee beaconing nodes is uniformly distributed in farmland, and beaconing nodes relative coordinate is known;
The aircraft node to be positioned being made up of four-axle aircraft and ZigBee node, is provided with processor and height sensor on described four-axle aircraft, described ZigBee node comprises radiofrequency launcher and radio frequency receiver, is fixed on described four-axle aircraft center;
Described aircraft node to be positioned calculates the space length between described aircraft node to be positioned and described 4 ZigBee beaconing nodes by receiving 4 wireless signals that the beaconing nodes that wireless signal strength is the strongest sends in described ZigBee beaconing nodes, space length is mapped to the horizontal range of ZigBee beaconing nodes place surface level, a triangle locator region of every 3 ZigBee beaconing nodes composition, form altogether 4 sub regions, pass through respectively the relative coordinate of three limit localization method calculating aircraft nodes for every sub regions, calculate by centroid method the tetragonal barycenter that these 4 relative coordinates form again, final position coordinate using this center-of-mass coordinate as aircraft node.
According to the localization method of described a kind of four-axle aircraft farmland positioning system based on ZigBee, comprise the steps:
Step 1: four-axle aircraft flies over farmland, by height sensor, obtains aircraft height H;
Step 2: the radio frequency receiver of aircraft node to be positioned receives the signal of the radiofrequency launcher transmitting of different described ZigBee beaconing nodes, obtains corresponding received signal strength indicator value (Received Signal Strength Indication, RSSI), RSSI [ dBm ] = PL ( d 0 ) [ dBm ] - 10 nlg ( d d 0 ) - X σ , Described aircraft node to be positioned is selected 4 ZigBee beaconing nodes that wireless signal strength is the strongest, obtains real space between these 4 ZigBee beaconing nodes and four-axle aircraft apart from d by RSSI computing formula, in equation, and d 0be reference distance, get 1m; N is fading channel index, value 2～4; PL (d 0) be range transmission machine d 0the signal intensity at place, is obtained by the normalized definition of experience or hardware; PL (d) is at a distance of the signal intensity for d position with transmitter; X σbe the Gaussian random variable that average is zero, variance is σ, it is determined according to environment;
Step 3: by step 2, apply Pythagorean theorem, the space length between described aircraft node to be positioned and 4 ZigBee beaconing nodes is mapped to the horizontal range of surface level, formula is
Figure BDA0000458208570000032
wherein D is the real space distance being calculated by step 2, and H is the height of the described four-axle aircraft that records of step 1, and M is the horizontal range that is mapped to surface level;
Step 4: by a triangle locator region of every 4 beaconing nodes of described known position information 3 compositions, form altogether 4 triangle subareas;
Step 5: establish in step 4 coordinate on any one Atria summit in 4 triangle subareas and be respectively A(x a, y a), B(x b, y b) and C(x c, y c), if described aircraft node coordinate to be positioned is (x, y), try to achieve described aircraft node to be positioned and A by step 3, B, the horizontal range that C is 3 is respectively M1, M2 and M3, by three limit localization methods, these 3, respectively according to corresponding coordinate applications distances formula, are finally arranged and try to achieve described aircraft node coordinate to be positioned:
x = 1 2 · ( y B - y C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) - ( y A - y C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
y = 1 2 · ( x A - x C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) - ( x B - x C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
Step 6: obtain 4 corresponding 4 aircraft node coordinates to be positioned of triangle subarea by step 5,4 coordinate points can be combined into a quadrilateral, get the final elements of a fix of this tetragonal barycenter as described aircraft node to be positioned by centroid method:
( x , y ) = ( x A ′ + x B ′ + x C ′ + x D ′ 4 , y A ′ + y B ′ + y C ′ + y D ′ 4 )
One of them ZigBee beaconing nodes of described ZigBee beaconing nodes is demarcated as to true origin, during other ZigBee beaconing nodes distribute according to farmland, demarcates relative coordinate with the physical location of true origin.
The final localizing objects of aircraft to be positioned is the relative coordinate of relative coordinate initial point.
Compared with prior art, advantage of the present invention is:
(1) according to the actual distribution of farmland beaconing nodes, each beaconing nodes is carried out to Relatively orientation, form agricultural land information monitoring network, not only can fixed point monitoring agricultural land information, also can be running fix monitoring platform and basis are provided, saved resource and cost;
(2) RSSI location technology and the four-axle aircraft of ZigBee are combined, on three limits-method for positioning mass center basis, algorithm expanded and improved, in conjunction with the elevation information of four-axle aircraft, the four-axle aircraft flying can be carried out to coordinate setting in space;
(3) system bulk is relatively little, and cost is relatively low, and energy loss is low, is easy to carry and operates, and in the time positioning with information acquisition, can not form any damage to farmland, applied widely, is easy to promote;
(4) data transmission is reliable, and positioning precision is high, applicable to compared with complex environment.
Accompanying drawing explanation
Fig. 1 is system composition of the present invention and positioning principle schematic diagram.
Fig. 2 is system architecture schematic diagram of the present invention.
Fig. 3 is four-axle aircraft node schematic diagram of the present invention.
Fig. 4 is three limit positioning principle schematic diagram of the present invention.
Fig. 5 is that center-of-mass coordinate of the present invention is calculated schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1, the four-axle aircraft farmland positioning system based on ZigBee of the present invention is made up of beaconing nodes (Q0～Q7) and described aircraft node K to be positioned bis-parts.Described beaconing nodes (Q0～Q7) is the necessary condition of native system, is also the notable feature of native system simultaneously.Native system is mainly to utilize the existing ZigBee wireless sensor network for agricultural land information monitoring to set up system of the present invention.Agricultural land information monitoring ZigBee-network is laid in beaconing nodes (Q0～Q7) in space, farmland according to linescan method by actual measurement.
Described aircraft node to be positioned comprises expansion ZigBee module simultaneously, in the time that four-axle aircraft flies over farmland by remote control or automatic control, the elevation information self obtaining by described aircraft node to be positioned, obtain the RSSI value from different beaconing nodes or location node with the ZigBee module that described aircraft node to be positioned comprises, select 4 beaconing nodes that RSSI value is maximum, obtain the space length between aircraft node and above-mentioned 4 beaconing nodes by the computing formula of RSSI, pass through Pythagorean theorem, space length is mapped to the horizontal range of beaconing nodes place surface level, a triangle locator region of every 3 beaconing nodes composition, form altogether 4 sub regions, pass through respectively the relative coordinate of three limit localization method calculating aircraft nodes for every sub regions, calculate these 4 relative coordinates by centroid method again and form tetragonal barycenter, final position coordinate using this center-of-mass coordinate as aircraft node
As shown in Figure 2, beaconing nodes of the present invention is made up of ZigBee module (comprising radiofrequency launcher and radio frequency receiver) and other sensors respectively; Described aircraft node to be positioned, mainly comprises four-axle aircraft (comprising processor and height sensor) and ZigBee module (comprising radiofrequency launcher and radio frequency receiver).Described beaconing nodes Q0～Q7 by radiofrequency launcher and radio frequency receiver respectively with described aircraft node communication to be positioned to realize the location of described aircraft node to be positioned, simultaneously described beaconing nodes Q0～Q7 also can by radiofrequency launcher and radio frequency receiver each other exchange message with the operation conditions of check beaconing nodes.
As shown in Figure 3, four-axle aircraft node of the present invention comprises four-axle aircraft, processor, ZigBee module, height sensor and other sensors.These devices concentrate on aircraft center 4, and four-axle aircraft four axles have structurally adopted four basic motive sources that rotor 1 is flight, and four rotors 1 are connected to aircraft center 4 by support 3.While, four rotors 1 were symmetrically distributed in front and back and the left and right four direction of fuselage between two, four rotors 1 are positioned at same level height, and the radius of each rotor 1 is all the same with structure, one group of relative counterclockwise rotation of rotor 1, another organizes the 1 clockwise direction rotation of relative rotor, four brushless electric machines 2 are symmetrically distributed in the end of aircraft parking stand, and flight attitude control processor, ZigBee module B and sensor and other outside equipment of expanding can be laid in central authorities' intersection space of support.Because two groups of rotors 1 rotate in the opposite direction, therefore in the time that aircraft balance is flown, aerodynamic force moment of torsion effect and the gyroscopic effect of generation are all cancelled out each other, therefore, four-axle aircraft can be resisted certain external disturbance, guarantees the control of stablizing and be subject to telepilot of self.Can find out from said structure and principle, four-axle aircraft physical construction simple, intuitive, can control flexibly, is the best equipment for field information acquisition location.
For described aircraft node to be positioned localization method in the time flying past farmland, comprise the steps: specifically
Step 1: described four-axle aircraft, by height sensor, obtains the height H of aircraft, as shown in fig. 1;
Step 2:
The radio frequency receiver of described aircraft node to be positioned receives the signal of the radiofrequency launcher transmitting of different described ZigBee beaconing nodes, obtains corresponding RSSI value, RSSI [ dBm ] = PL ( d 0 ) [ dBm ] - 10 nlg ( d d 0 ) - X σ , Described aircraft node to be positioned is selected 4 the strongest beaconing nodes of wireless signal strength, obtains real space between these 4 beaconing nodes and four-axle aircraft apart from d by RSSI computing formula, in equation, and d 0be reference distance, get 1m; N is fading channel index, value 2～4; PL (d 0) be range transmission machine d 0the signal intensity at place, is obtained by the normalized definition of experience or hardware; PL (d) is at a distance of the signal intensity for d position with transmitter; X σbe the Gaussian random variable that average is zero, variance is σ, it is determined according to environment.As shown in fig. 1, by said method, can try to achieve respectively the distance B of described aircraft node to be positioned and described 4 beaconing nodes 1, D 2, D 3, D 4.
Step 3: by step 2, apply Pythagorean theorem, the space length between described aircraft node to be positioned and 4 beaconing nodes is mapped to the horizontal range of surface level, formula is
Figure BDA0000458208570000071
wherein D is the real space distance being calculated by step 2, and H is the height of the described four-axle aircraft that records of step 1, and M is the horizontal range that is mapped to surface level.As shown in fig. 1, D 1, D 2, D 3being mapped to surface level is M 1, M 2, M 3.
Step 4: by a triangle locator region of every 4 beaconing nodes of described known position information 3 compositions, form altogether 4 triangle subareas.
Step 5: establish in step 4 coordinate on any one Atria summit in 4 triangle subareas and be respectively A(x a, y a), B(x b, y b) and C(x c, y c), if described aircraft node coordinate to be positioned is (x, y), try to achieve described aircraft node to be positioned and A, B by step 3, the horizontal range that C is 3 is respectively M1, M2 and M3, by three limit localization methods, as shown in Figure 4, respectively according to corresponding coordinate applications distances formula, list following formula to these 3:
( x A - x ) 2 + ( y A - y ) 2 = M 1 2 ( x B - x ) 2 + ( y B - y ) 2 = M 2 2 ( x C - x ) 2 + ( y C - y ) 2 = M 3 2
Finally arrange and try to achieve described aircraft node coordinate to be positioned:
x = 1 2 · ( y B - y C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) - ( y A - y C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
y = 1 2 · ( x A - x C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) - ( x B - x C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
Step 6: obtain 4 corresponding 4 aircraft node coordinates to be positioned of triangle subarea by step 5,4 coordinate points can be combined into a quadrilateral, by centroid method, as shown in Figure 5, by the coordinate (x of quadrilateral four summit A ', B ', C ', D ' a ', y a '), (x b ', y b '), (x c ', y c '), (x d ', y d ') can show that its center-of-mass coordinate as formula is:
( x , y ) = ( x A ′ + x B ′ + x C ′ + x D ′ 4 , y A ′ + y B ′ + y C ′ + y D ′ 4 )
The aircraft node coordinate described to be positioned after proofreading and correct.
It should be noted that, the omnidirectional antenna that this method is used refers to the omnidirectional of three-dimensional space, and what signal radiation pattern was standard at three dimensions is spherical; And in engineering application, generally also the antenna that in certain plane, directional diagram is circumference is called to omnidirectional antenna, as whip antenna, it is round at main lobe radially, but still has axial secondary lobe.While utilizing this type of whip antenna to position, measuring accuracy can be affected, in order to guarantee precision, the difference in height of aircraft altitude and node deployment height need to be limited.In practical application, the limitation in height that aircraft can be flown above farmland is in 5m left and right, and location node height is in 3m left and right.
More than described ultimate principle of the present invention, essential characteristic and basic embodiment, and the mode of having passed through to illustrate rather than limit is set forth here.It will be apparent to one skilled in the art that, it should be apparent that, do not depart from itself under the prerequisite of invention spirit and scope of appended claims restriction, can make many other case study on implementation.

Claims (4)

1. the four-axle aircraft farmland positioning system based on ZigBee, is characterized in that, comprising:
The ZigBee beaconing nodes of some known location, equal height, each ZigBee beaconing nodes comprises radiofrequency launcher and radio frequency receiver, and each ZigBee beaconing nodes is uniformly distributed in farmland, and beaconing nodes relative coordinate is known;
The aircraft node to be positioned being made up of four-axle aircraft and ZigBee node, is provided with processor and height sensor on described four-axle aircraft, described ZigBee node comprises radiofrequency launcher and radio frequency receiver, is fixed on described four-axle aircraft center;
Described aircraft node to be positioned calculates the space length between described aircraft node to be positioned and described 4 ZigBee beaconing nodes by receiving 4 wireless signals that the beaconing nodes that wireless signal strength is the strongest sends in described ZigBee beaconing nodes, space length is mapped to the horizontal range of ZigBee beaconing nodes place surface level, a triangle locator region of every 3 ZigBee beaconing nodes composition, form altogether 4 sub regions, pass through respectively the relative coordinate of three limit localization method calculating aircraft nodes for every sub regions, calculate by centroid method the tetragonal barycenter that these 4 relative coordinates form again, final position coordinate using this center-of-mass coordinate as aircraft node.
2. the localization method of a kind of four-axle aircraft farmland positioning system based on ZigBee according to claim 1, comprises the steps:
Step 1: four-axle aircraft flies over farmland, by height sensor, obtains aircraft height H;
Step 2: the radio frequency receiver of aircraft node to be positioned receives the signal of the radiofrequency launcher transmitting of different described ZigBee beaconing nodes, obtains corresponding received signal strength indicator value (Received Signal Strength Indication, RSSI), RSSI [ dBm ] = PL ( d 0 ) [ dBm ] - 10 nlg ( d d 0 ) - X σ , Described aircraft node to be positioned is selected 4 ZigBee beaconing nodes that wireless signal strength is the strongest, obtains real space between these 4 ZigBee beaconing nodes and four-axle aircraft apart from d by RSSI computing formula, in equation, and d 0be reference distance, get 1m; N is fading channel index, value 2～4; PL (d 0) be range transmission machine d 0the signal intensity at place, is obtained by the normalized definition of experience or hardware; PL (d) is at a distance of the signal intensity for d position with transmitter; X σbe the Gaussian random variable that average is zero, variance is σ, it is determined according to environment;
Step 3: by step 2, apply Pythagorean theorem, the space length between described aircraft node to be positioned and 4 ZigBee beaconing nodes is mapped to the horizontal range of surface level, formula is
Figure FDA0000458208560000021
wherein D is the real space distance being calculated by step 2, and H is the height of the described four-axle aircraft that records of step 1, and M is the horizontal range that is mapped to surface level;
Step 4: by a triangle locator region of every 4 beaconing nodes of described known position information 3 compositions, form altogether 4 triangle subareas;
Step 5: establish in step 4 coordinate on any one Atria summit in 4 triangle subareas and be respectively A(x a, y a), B(x b, y b) and C(x c, y c), if described aircraft node coordinate to be positioned is (x, y), try to achieve described aircraft node to be positioned and A by step 3, B, the horizontal range that C is 3 is respectively M1, M2 and M3, by three limit localization methods, these 3, respectively according to corresponding coordinate applications distances formula, are finally arranged and try to achieve described aircraft node coordinate to be positioned:
x = 1 2 · ( y B - y C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) - ( y A - y C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
y = 1 2 · ( x A - x C ) ( x A 2 - x C 2 + y B 2 - y C 2 + M 3 2 - M 2 2 ) - ( x B - x C ) ( x A 2 - x C 2 + y A 2 - y C 2 + M 3 2 - M 1 2 ) ( x A - x C ) ( y B - y C ) - ( y A - y C ) ( x B - x C )
Step 6: obtain 4 corresponding 4 aircraft node coordinates to be positioned of triangle subarea by step 5,4 coordinate points can be combined into a quadrilateral, get the final elements of a fix of this tetragonal barycenter as described aircraft node to be positioned by centroid method:
( x , y ) = ( x A ′ + x B ′ + x C ′ + x D ′ 4 , y A ′ + y B ′ + y C ′ + y D ′ 4 )
3. localization method according to claim 2, it is characterized in that, one of them ZigBee beaconing nodes of described ZigBee beaconing nodes is demarcated as to true origin, during other ZigBee beaconing nodes distribute according to farmland, demarcates relative coordinate with the physical location of true origin.
4. localization method according to claim 2, is characterized in that, the final localizing objects of aircraft to be positioned is the relative coordinate of relative coordinate initial point.
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